I did some further researches and I think I figured out the root cause for this problem.
I enabled the debug logs for the xiaomi binding. Here I can see that the vacuumer directly after the command was send still replies that the status is “in dock” (status codes can be found here: https://github.com/marcelrv/XiaomiRobotVacuumProtocol/blob/master/StatusMessage.md).
Thus the behavior is:
1.: Button in basicUI is pressed => vacuumer is set to “vacuum”
2.: vacuumer recieved the GET_STATUS response (state=8 (charging)) => vacuumer is set to “dock”
3.: periodic update kicks in => state=5 (cleaning)) ==> vacuumer is set to “vacuum”
I assume this is an issue within the xiaomi binding 
//----- dock2vacuum triggered from basicUI - event.logs
2019-10-21 19:42:50.494 [DEBUG] [o.internal.handler.MiIoVacuumHandler] - Periodic update for 'miio:vacuum:vacumground' (miio:vacuum)
2019-10-21 19:42:50.494 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8738,"method":"get_dnd_timer","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 1)
2019-10-21 19:42:50.494 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:50.497 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:50.497 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8739,"method":"get_clean_summary","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 2)
2019-10-21 19:42:50.497 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:50.499 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:50.499 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8740,"method":"get_status","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 3)
2019-10-21 19:42:50.500 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:50.502 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:50.502 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8741,"method":"miIO.info","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 4)
2019-10-21 19:42:50.502 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:50.504 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:50.505 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8742,"method":"get_consumable","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 5)
2019-10-21 19:42:50.505 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:50.507 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:50.548 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: DND_GET, result: [{"start_hour":22,"start_minute":0,"end_hour":8,"end_minute":0,"enabled":1}], fullresponse: {"result":[{"start_hour":22,"start_minute":0,"end_hour":8,"end_minute":0,"enabled":1}],"id":8738}
2019-10-21 19:42:50.557 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: CLEAN_SUMMARY_GET, result: [136320,1887000000,94,[1571679652,1571678891,1571678745,1571678652,1571677649,1571674906,1571674636,1571674456,1571652017,1571493087,1571492514,1571491658,1571491563,1571491487,1571491334,1571392800,1571306400,1571220001,1571133600,1571047202]], fullresponse: {"result":[136320,1887000000,94,[1571679652,1571678891,1571678745,1571678652,1571677649,1571674906,1571674636,1571674456,1571652017,1571493087,1571492514,1571491658,1571491563,1571491487,1571491334,1571392800,1571306400,1571220001,1571133600,1571047202]],"id":8739}
2019-10-21 19:42:50.557 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8743,"method":"get_clean_record","params":[1571679652]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 4)
2019-10-21 19:42:50.557 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:50.560 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:50.565 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: GET_STATUS, result: [{"msg_ver":2,"msg_seq":2568,"state":8,"battery":72,"clean_time":72,"clean_area":1977500,"error_code":0,"map_present":1,"in_cleaning":0,"in_returning":0,"in_fresh_state":1,"lab_status":1,"fan_power":60,"dnd_enabled":0}], fullresponse: {"result":[{"msg_ver":2,"msg_seq":2568,"state":8,"battery":72,"clean_time":72,"clean_area":1977500,"error_code":0,"map_present":1,"in_cleaning":0,"in_returning":0,"in_fresh_state":1,"lab_status":1,"fan_power":60,"dnd_enabled":0}],"id":8740}
2019-10-21 19:42:50.569 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: MIIO_INFO, result: {"hw_ver":"Linux","fw_ver":"3.3.9_001886","ap":{"ssid":"mushroom kingdom","bssid":"DC:9F:DB:B5:49:A0","rssi":-66},"netif":{"localIp":"10.10.10.38","mask":"255.255.255.0","gw":"10.10.10.1"},"model":"roborock.vacuum.s5","mac":"04:CF:8C:F9:17:46","token":"4162504833574b625a5733663865505a","life":58575}, fullresponse: {"partner_id":"","id":8741,"code":0,"message":"ok","result":{"hw_ver":"Linux","fw_ver":"3.3.9_001886","ap":{"ssid":"mushroom kingdom","bssid":"DC:9F:DB:B5:49:A0","rssi":-66},"netif":{"localIp":"10.10.10.38","mask":"255.255.255.0","gw":"10.10.10.1"},"model":"roborock.vacuum.s5","mac":"04:CF:8C:F9:17:46","token":"4162504833574b625a5733663865505a","life":58575}}
2019-10-21 19:42:50.575 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: CONSUMABLES_GET, result: [{"main_brush_work_time":136320,"side_brush_work_time":136320,"filter_work_time":136320,"sensor_dirty_time":136320}], fullresponse: {"result":[{"main_brush_work_time":136320,"side_brush_work_time":136320,"filter_work_time":136320,"sensor_dirty_time":136320}],"id":8742}
2019-10-21 19:42:50.581 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: CLEAN_RECORD_GET, result: [[1571679652,1571679764,72,1977500,0,0]], fullresponse: {"result":[[1571679652,1571679764,72,1977500,0,0]],"id":8743}
2019-10-21 19:42:53.029 [INFO ] [script.vacuumer_actionControl_switch] - changed: VacuumerActionControl (Type=StringItem, State=vacuum, Label=Vacuum Control, Category=null, Groups=[gVac])
2019-10-21 19:42:53.031 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8744,"method":"app_start","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 1)
2019-10-21 19:42:53.031 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:53.034 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:53.034 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8745,"method":"get_status","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 2)
2019-10-21 19:42:53.035 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:42:53.039 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:42:53.133 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: START_VACUUM, result: ["ok"], fullresponse: {"result":["ok"],"id":8744}
2019-10-21 19:42:53.141 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: GET_STATUS, result: [{"msg_ver":2,"msg_seq":2569,"state":8,"battery":72,"clean_time":72,"clean_area":1977500,"error_code":0,"map_present":1,"in_cleaning":0,"in_returning":0,"in_fresh_state":1,"lab_status":1,"fan_power":60,"dnd_enabled":0}], fullresponse: {"result":[{"msg_ver":2,"msg_seq":2569,"state":8,"battery":72,"clean_time":72,"clean_area":1977500,"error_code":0,"map_present":1,"in_cleaning":0,"in_returning":0,"in_fresh_state":1,"lab_status":1,"fan_power":60,"dnd_enabled":0}],"id":8745}
2019-10-21 19:42:53.143 [INFO ] [script.vacuumer_actionControl_switch] - changed: VacuumerActionControl (Type=StringItem, State=dock, Label=Vacuum Control, Category=null, Groups=[gVac])
2019-10-21 19:42:53.143 [INFO ] [script.vacuumer_actionControl_switch] - DOCK!!!!
2019-10-21 19:43:20.514 [DEBUG] [o.internal.handler.MiIoVacuumHandler] - Periodic update for 'miio:vacuum:vacumground' (miio:vacuum)
2019-10-21 19:43:20.514 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8746,"method":"get_dnd_timer","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 1)
2019-10-21 19:43:20.515 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:43:20.517 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:43:20.518 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8747,"method":"get_clean_summary","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 2)
2019-10-21 19:43:20.518 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:43:20.521 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:43:20.521 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8748,"method":"get_status","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 3)
2019-10-21 19:43:20.521 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:43:20.524 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:43:20.524 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Command added to Queue {"id":8749,"method":"get_consumable","params":[]} -> 10.10.10.38 (Device: 0F7965C5 token: 4162504833574B625A5733663865505A Queue: 4)
2019-10-21 19:43:20.524 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Sending Ping 0F7965C5 (10.10.10.38)
2019-10-21 19:43:20.526 [DEBUG] [nal.transport.MiIoAsyncCommunication] - Ping 0F7965C5 (10.10.10.38) success
2019-10-21 19:43:20.590 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: DND_GET, result: [{"start_hour":22,"start_minute":0,"end_hour":8,"end_minute":0,"enabled":1}], fullresponse: {"result":[{"start_hour":22,"start_minute":0,"end_hour":8,"end_minute":0,"enabled":1}],"id":8746}
2019-10-21 19:43:20.597 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: CLEAN_SUMMARY_GET, result: [136320,1887000000,94,[1571679652,1571678891,1571678745,1571678652,1571677649,1571674906,1571674636,1571674456,1571652017,1571493087,1571492514,1571491658,1571491563,1571491487,1571491334,1571392800,1571306400,1571220001,1571133600,1571047202]], fullresponse: {"result":[136320,1887000000,94,[1571679652,1571678891,1571678745,1571678652,1571677649,1571674906,1571674636,1571674456,1571652017,1571493087,1571492514,1571491658,1571491563,1571491487,1571491334,1571392800,1571306400,1571220001,1571133600,1571047202]],"id":8747}
2019-10-21 19:43:20.602 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: GET_STATUS, result: [{"msg_ver":2,"msg_seq":2571,"state":5,"battery":72,"clean_time":26,"clean_area":377500,"error_code":0,"map_present":1,"in_cleaning":1,"in_returning":0,"in_fresh_state":0,"lab_status":1,"fan_power":60,"dnd_enabled":0}], fullresponse: {"result":[{"msg_ver":2,"msg_seq":2571,"state":5,"battery":72,"clean_time":26,"clean_area":377500,"error_code":0,"map_present":1,"in_cleaning":1,"in_returning":0,"in_fresh_state":0,"lab_status":1,"fan_power":60,"dnd_enabled":0}],"id":8748}
2019-10-21 19:43:20.609 [INFO ] [script.vacuumer_actionControl_switch] - changed: VacuumerActionControl (Type=StringItem, State=vacuum, Label=Vacuum Control, Category=null, Groups=[gVac])
2019-10-21 19:43:20.612 [DEBUG] [internal.handler.MiIoAbstractHandler] - Received response for vacumground type: CONSUMABLES_GET, result: [{"main_brush_work_time":136320,"side_brush_work_time":136320,"filter_work_time":136320,"sensor_dirty_time":136320}], fullresponse: {"result":[{"main_brush_work_time":136320,"side_brush_work_time":136320,"filter_work_time":136320,"sensor_dirty_time":136320}],"id":8749}
//----- dock2vacuum triggered from basicUI - openhab.logs
2019-10-21 19:42:50.557 [vent.ItemStateChangedEvent] - historyTime changed from 2270 to 2272
2019-10-21 19:42:50.557 [vent.ItemStateChangedEvent] - historyArea changed from 1885.0225 to 1887.0
2019-10-21 19:42:50.558 [vent.ItemStateChangedEvent] - historyCount changed from 93 to 94
2019-10-21 19:42:50.566 [vent.ItemStateChangedEvent] - statusClean changed from 1 to 0
2019-10-21 19:42:50.566 [vent.ItemStateChangedEvent] - statusStatus changed from Returning Dock to Charging
2019-10-21 19:42:50.570 [vent.ItemStateChangedEvent] - miNetLife changed from 58515 to 58575
2019-10-21 19:42:53.025 [ome.event.ItemCommandEvent] - Item 'VacuumerActionControl' received command vacuum
2019-10-21 19:42:53.028 [nt.ItemStatePredictedEvent] - VacuumerActionControl predicted to become vacuum
2019-10-21 19:42:53.031 [vent.ItemStateChangedEvent] - VacuumerActionControl changed from dock to vacuum
2019-10-21 19:42:53.143 [vent.ItemStateChangedEvent] - VacuumerActionControl changed from vacuum to dock
2019-10-21 19:43:20.608 [vent.ItemStateChangedEvent] - statusArea changed from 1.9775 to 0.3775
2019-10-21 19:43:20.609 [vent.ItemStateChangedEvent] - statusTime changed from 1 to 0
2019-10-21 19:43:20.609 [vent.ItemStateChangedEvent] - statusClean changed from 0 to 1
2019-10-21 19:43:20.609 [vent.ItemStateChangedEvent] - statusStatus changed from Charging to Cleaning
2019-10-21 19:43:20.609 [vent.ItemStateChangedEvent] - VacuumerActionControl changed from dock to vacuum